This is a 1970's era manual controller developed for controlling robots operating in radioactive environments. This controller is roughly the size of a human arm. At the back of the controller you can see a number of black disks. These are electric motors. These electric motors provide the energy to feed forces back to the operator. These forces are proportional to the current in the robot's motors which in turn are proportional to the forces being experienced by the robot. The placement of the motors at the back of the controller provides perfect counter balancing.
The motors drive the robot joints with almost no friction via metal tape. Developed 40 years ago and without any computer control, I believe this controller works as well or better than any human-arm scale controller available today.
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